Additional material for Lec7

The file lab2_prep.m Download lab2_prep.m illustrates how you can use matlab's symbolic manipulation toolbox to solve preparation task 3.6 (PID control of lower tank) where the parameters K, Ti and Td are found from a linear equation system of order 3. As an alternative you could use the sympy toolbox in python.

This conversation with chatGPT illustrates how you can write such code, without really knowing the syntax of matlab (but also notice the mistake first done...

Notes for the end of Lecture 7. Also note that Tore's compendium at the end of Ch 7 has good summaries of "the general case" for the stationary error in both the servo and regulator case.

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Lecture video:

Part 1.

Part 2.

Lecture notes: Chapter 7 in the lecture notes (Swe) / (Eng)

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Exercise on Delay margin

Exercise on Sensitivity function and disturbance suppression